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Added warning on invalid decimation value when creating a RGBD cloud from SensorData

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matlabbe
2015-08-25 16:29:27 -04:00
parent 537a473482
commit dbc03024ef
1 changed files with 10 additions and 2 deletions
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12
corelib/src/util3d.cpp
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@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/util2d.h>
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UConversion.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/transforms.h>
#include <opencv2/imgproc/imgproc.hpp>
@@ -287,8 +288,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
{
UASSERT(imageRgb.rows == imageDepth.rows && imageRgb.cols == imageDepth.cols);
UASSERT(!imageDepth.empty() && (imageDepth.type() == CV_16UC1 || imageDepth.type() == CV_32FC1));
UASSERT(imageDepth.rows % decimation == 0);
UASSERT(imageDepth.cols % decimation == 0);
UASSERT_MSG(imageDepth.rows % decimation == 0, uFormat("imageDepth.rows=%d decimation=%d", imageDepth.rows, decimation).c_str());
UASSERT_MSG(imageDepth.cols % decimation == 0, uFormat("imageDepth.cols=%d decimation=%d", imageDepth.rows, decimation).c_str());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
if(decimation < 1)
@@ -641,6 +642,13 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
{
if(sensorData.cameraModels()[i].isValid())
{
if(subImageWidth % decimation != 0 || sensorData.depthRaw().rows % decimation != 0)
{
UWARN("Image size (%d,%d) modulus decimation (%d) is not null "
"for the cloud creation! Setting decimation to 1...",
subImageWidth, sensorData.depthRaw().rows, decimation);
decimation = 1;
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp = util3d::cloudFromDepthRGB(
cv::Mat(sensorData.imageRaw(), cv::Rect(subImageWidth*i, 0, subImageWidth, sensorData.imageRaw().rows)),
cv::Mat(sensorData.depthRaw(), cv::Rect(subImageWidth*i, 0, subImageWidth, sensorData.depthRaw().rows)),